MulticopterLandDetector: remove arbitrary maximum altitude based on battery percentage

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -90,7 +90,6 @@ void MulticopterLandDetector::_update_topics()
 	LandDetector::_update_topics();
 
 	_actuator_controls_sub.update(&_actuator_controls);
-	_battery_sub.update(&_battery_status);
 	_vehicle_angular_velocity_sub.update(&_vehicle_angular_velocity);
 	_vehicle_control_mode_sub.update(&_vehicle_control_mode);
 	_vehicle_local_position_setpoint_sub.update(&_vehicle_local_position_setpoint);
@@ -256,26 +255,12 @@ bool MulticopterLandDetector::_get_landed_state()
 
 float MulticopterLandDetector::_get_max_altitude()
 {
-	/* TODO: add a meaningful altitude */
-	float valid_altitude_max = _param_lndmc_alt_max.get();
-
-	if (valid_altitude_max < 0.0f) {
+	if (_param_lndmc_alt_max.get() < 0.0f) {
 		return INFINITY;
-	}
-
-	if (_battery_status.warning == battery_status_s::BATTERY_WARNING_LOW) {
-		valid_altitude_max = _param_lndmc_alt_max.get() * 0.75f;
-	}
 
-	if (_battery_status.warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
-		valid_altitude_max = _param_lndmc_alt_max.get() * 0.5f;
-	}
-
-	if (_battery_status.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
-		valid_altitude_max = _param_lndmc_alt_max.get() * 0.25f;
+	} else {
+		return _param_lndmc_alt_max.get();
 	}
-
-	return valid_altitude_max;
 }
 
 bool MulticopterLandDetector::_has_altitude_lock()

src/modules/land_detector/MulticopterLandDetector.h

@@ -115,7 +115,6 @@ private:
 	} _params{};
 
 	uORB::Subscription _actuator_controls_sub{ORB_ID(actuator_controls_0)};
-	uORB::Subscription _battery_sub{ORB_ID(battery_status)};
 	uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
@@ -124,7 +123,6 @@ private:
 	uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)};
 
 	actuator_controls_s               _actuator_controls {};
-	battery_status_s                  _battery_status {};
 	vehicle_angular_velocity_s        _vehicle_angular_velocity{};
 	vehicle_control_mode_s            _vehicle_control_mode {};
 	vehicle_local_position_setpoint_s _vehicle_local_position_setpoint {};